CN1801243A - Vehicle proximity alerting system and method - Google Patents
Vehicle proximity alerting system and method Download PDFInfo
- Publication number
- CN1801243A CN1801243A CNA200510109356XA CN200510109356A CN1801243A CN 1801243 A CN1801243 A CN 1801243A CN A200510109356X A CNA200510109356X A CN A200510109356XA CN 200510109356 A CN200510109356 A CN 200510109356A CN 1801243 A CN1801243 A CN 1801243A
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- Prior art keywords
- distance
- vehicle
- signal
- setting value
- warning
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
- B60Q1/535—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
A vehicle proximity alerting system and method is provided. The system includes: a sensor unit having a plurality of sensors for measuring distances from other vehicles; a system controlling unit for receiving measurement signals from the sensors, calculating distances from other vehicles, determining whether or not the calculated distance is less than a preset vehicle proximity distance setting value, and generating an alert signal when it is determined that the calculated distance is less than the vehicle proximity distance setting value; and an alerting unit for receiving the alert signal and alerting.
Description
Technical field
The present invention relates to Vehicle security system, more specifically relate to be used for measuring under steam apart from the distance of other vehicle and when other vehicle be close to predetermined apart from the time send the vehicle proximity alerting system and the method for warning.
Background technology
At present, vehicle collision rate (penetration rate) constantly increases.Because big or little traffic hazard will take place in the increase of collision rate.For fear of traffic hazard, developing multiple device and be installed on the car.
An example of this class device is, the rear object sensing apparatus, be used in the object or person of stopping or sensing is positioned at rear view of vehicle during reversing, the distance of notice object or people's distance, and give the alarm to the driver in the time of within object or person are in preset distance, thereby avoided collision or personal injury.It is current trend that this rear object sensing apparatus is installed onboard.When vehicle when travelling than low velocity, promptly when vehicle operation during in the reversing situation, its rear object sensing apparatus is positioned at the warning that limits distance to driver's exhalation body.
As mentioned above, since the continuous increase of collision rate, the device that needs exploitation to be used to avoid traffic accident.
In only being used for limited distance and speed in one direction, avoid such as with the rear object sensing apparatus of the relative less traffic hazard of the object at rear and people's collision, need multiple be used for avoiding minor accident and even the servicing unit of the big traffic hazard of travelling.
Summary of the invention
Therefore, the object of the invention will provide a kind of one or more limitations and the not enough vehicle proximity alerting system and method that can fully overcome conventional art.
An object of the present invention is to provide a kind of vehicle proximity alerting system and method, be used for even when running at high speed, other vehicles send warning to the driver apart from the distance of the vehicle that Ben Che driver drove during near preset distance.
Additional advantages of the present invention, purpose and feature will explanations in subsequently instructions part, and those of ordinary skills are by with reference to being elaborated in following explanation or the knowledge acquired from enforcement of the present invention.The structure that particularly points out in this printed instructions, claims and accompanying drawing can realize purpose of the present invention and other advantages.
For reach above-mentioned with and other objects and advantages, according to purpose of the present invention, also broadly described as implementing here, a kind of vehicle proximity alerting system is provided, described system comprises: sensing unit has a plurality of sensors that are used to measure with the distance of other vehicles; System control unit, be used for receiving measuring-signal from sensor, calculate the distance with other vehicles, whether the distance of determining to be calculated less than predetermined vehicle proximity distance setting value, and when the distance of determining to be calculated generation alerting signal during less than vehicle proximity distance setting value; And alarm unit, be used to receive described alerting signal and send warning.
According to another aspect of the present invention, provide a kind of vehicle proximity alarm method, said method comprising the steps of: be set by the user at least one adjacency setting value; Measure distance with other vehicles; Next more measured distance and described adjacency setting value, and send warning according to corresponding adjacency setting value.
Be noted that general introduction before of the present invention and the description of details afterwards all only are exemplary and only are used to the purpose explained.
Description of drawings
Understanding be the invention provides help and instructions is that the accompanying drawing of the application's a part shows embodiments of the present invention together, and be used from instructions one and explain principle of the present invention.In the accompanying drawings:
Fig. 1 has shown the structure according to the vehicle proximity alerting system of an embodiment of the invention;
Fig. 2 is the process flow diagram according to the vehicle proximity alarm method of an embodiment of the invention;
Fig. 3 has shown of vehicle-mounted alarm unit according to an embodiment of the invention
The synoptic diagram of embodiment;
Fig. 4 has shown an embodiment according to an embodiment of the invention mounting distance survey sensor.
Embodiment
In detail with reference to preferred implementation of the present invention, embodiment shows in the accompanying drawings now.In any possible place, will in all accompanying drawings, use identical numeral to represent identical or similar parts.
Fig. 1 has shown the structure according to the vehicle proximity alerting system of an embodiment of the invention, and Fig. 3 is the synoptic diagram that has shown an embodiment of vehicle-mounted alarm unit according to an embodiment of the invention.Hereinafter, will make a detailed description with reference to figure 1, Fig. 3 and Fig. 4.
The vehicle proximity alerting system of being invented comprises sensing unit 20, system control unit 10 and alarm unit 30.
Described sensing unit 20 is installed in vehicle periphery, and sensing produces sensing signal based on described distance, and the sensing signal that is produced is outputed to system control unit 10 apart from other distances near other vehicles of this car.
In the present invention, as shown in Figure 4, sensing unit 20 comprises: first range sensor 21 is used to measure the distance apart from preceding vehicle; Second distance sensor 23 is used to measure the distance of the vehicle approaching from the right side; The 3rd range sensor 25 is used to measure the distance of the vehicle approaching from the left side; And the 4th range sensor 27, be used to measure the distance of approaching from behind vehicle.The present invention only measures distance with other vehicles at four direction, but may further include four sensors that are installed on the vehicle diagonal, and measures from eight directions comprising diagonal distance near vehicle.Each sensor all produces sensing signal based on described distance, and the sensing signal that is produced is outputed to system control unit 10.
Described system control unit 10 comprises controller 11, distance setting unit 12, input signal processor 13, distance calculator 14 and output signal processor 15.
Described controller 11 comprises and is used for the storage area that interim storage is used for the control program that other vehicle proximity degree are reported to the police and carries out the data that this program produces.According to the present invention, the overall operation of described controller 11 control vehicle proximity alerting systems.
Described distance setting unit 12 at least one adjacency setting value that are set by the user of storage.Described adjacency setting value can be imported by key-press input unit (not shown) by the user, and can carry out multiple settings.For example, the user, promptly the driver can set at least one adjacency setting value, such as setting three meters as the first adjacency setting value, sets one meter as the second adjacency setting value, sets 50 centimetres as the 3rd adjacency setting value.
Described input signal processor 13 will convert distance value to from the sensing signal that sensor is imported respectively.
Described distance calculator 14 receives and then more measured distance value and at least one adjacency setting value of being scheduled to by controller 11, and determines that whether measured distance value is less than the adjacency setting value.For example, the distance value of supposing i.e. first range sensor measurement of the place ahead measuring distance value is 1.5 meters, described distance calculator 14 is 1.5 meters the first adjacency setting value that records distance value and 3 meters relatively, and determines that measured distance value is less than 3 meters the first adjacency setting value and greater than 1 meter the second adjacency setting value.Therefore, do not carry out comparison with 0.5 meter the 3rd adjacency setting value.When finishing above-mentioned the comparison, the result that described distance calculator 14 will be determined outputs to described controller 11.Meanwhile, described controller 11 is controlled described output signal processor 15 based on described definite result.
Described output signal processor 15 produces alerting signal under the control of controller 11.Described alerting signal is according to the control of controller 11 and difference.And described alerting signal can be that lamp flash signal, text data or alarm sound produce signal according to the structure of alarm unit 30.
When receiving described alerting signal, the warning that alarm unit 30 sends vehicle proximity to the driver of driver and other vehicles.
Described alarm unit 30 comprises the front portion that is installed in automobile side or the side warning light processor 31 at rear portion, for example among Fig. 3 shown in label 310-1 and the 310-2, windshield alarm indication processor 33, be installed in the two ends of vehicle front windshield, and the warning of sending the vicinity of other vehicles to the driver with text shown in label 320-1 and 320-2 or strip form (bar); And alert audio generator 35, be used to produce alarm sound.
Described side warning light processor 31 is used to warn the driver of other vehicles, and described windshield alarm indication processor 33 is used to warn Ben Che driver, and described alert audio generator 35 then is used to warn the driver of Ben Che driver and other vehicles.
Described alarm unit 30 can send warning to the driver of Ben Che driver and other vehicles with the alert levels that changes based on alerting signal.For example, when other vehicles are close to less than the first adjacency setting value, flicker frequency can be accelerated according to adjacency, the signal lamp blink speed is set at rank 1, when other vehicles are close to less than the second adjacency setting value, the signal lamp blink speed is set at rank 2, and when other vehicles were close to less than the 3rd adjacency setting value, the signal lamp blink speed was set at rank 3.And described windshield alarm indication processor 33 can send warning with the warning textcolor that changes based on alerting signal.The size of the alarm sound that described alert audio generator 35 can change according to alerting signal is sent warning.
Fig. 2 is the process flow diagram according to the vehicle proximity alarm method of an embodiment of the invention.Hereinafter, will make detailed description referring to figs. 1 to Fig. 4.
At first, when the electric power starting of vehicle or its engine start, in step 201,11 pairs of system initializations of described controller.Afterwards, in step 203, controller 11 is set the adjacency setting value by the user by key-press input unit (not shown).In case described adjacency setting value is set by the user, step 203 is just no longer carried out, and resets up to the user.Input block button resets the adjacency setting value if the user pushes button, and controller 11 is discerned resetting of these adjacency setting values, and the adjacency setting value of input afterwards is set at new adjacency setting value.
After above-mentioned steps was finished, in step 205, controller 11 control input signals processors 13 were used to ask the control signal of range observation to sensing unit 20 with output.If like this, described input signal processor 13 receives sensing signal from sensing unit 20, and converts each sensing signal to distance value.
Measured distance value can be transfused to and store into controller 11, and can be output and store into distance calculator 14.Described input signal processor 13 is exported measured distance value to distance calculator 14, and the signal that will be used to simultaneously notify measured distance value to output to distance calculator 14 outputs to controller 11.If like this, the controller 11 adjacency setting value that 12 outputs are scheduled to from the distance setting unit is to distance calculator 14.
Afterwards, the controller 11 adjacency setting value that more measured successively distance value and slave controller 11 receive in step 207,209 and 211 respectively.If in step 207, determine measured distance value, determine that in step 209 it greater than the second adjacency setting value, then sends warning at step 217 middle controller 11 with alert levels 3 less than the first adjacency setting value.In other words, described alarm sound produces with minimum rank.But, less than the second adjacency setting value, judge in step 211 that then whether measured distance value is less than the 3rd adjacency setting value if in step 209, determine measured distance value.If determine that in step 211 measured distance value greater than the 3rd adjacency setting value, then sends warning at step 218 middle controller 11 with alert levels 2.In other words, described alarm sound produces with medium rank.Otherwise, send warning with alert levels 3 at step 219 middle controller 11.
Send after the warning, continue to carry out range observation at step 205 middle controller 11.
Greater than the first adjacency setting value, then judge at step 213 middle controller 11 whether vehicle is in alarm condition if in step 207, determine measured distance value.In other words, judge whether other vehicles are found to cause alarm condition within the preset distance owing to they are close to, and leave the scope of preset distance.
If determine that in step 213 vehicle not in alarm condition, then continues to carry out range observation at step 205 middle controller 11, and if in alarm condition, then controller 11 is cancelled warning and continued execution in step 205 in step 215.
As mentioned above, the advantage that the present invention has is the contiguous Xiang Benche driver of other vehicles and the driver of other vehicles can be sent warning, therefore avoided minor accident or bigger traffic hazard, reduced traffic hazard and cause casualties quantity, and ensured the safety of personal property.
Describe the present invention with reference to exemplary embodiment of the present invention,, clearly can not break away from the claim that the present invention adds and the spirit and scope of equivalent defined and make various modifications for the one of ordinary skilled in the art.
Claims (11)
1. vehicle proximity alerting system, described system comprises:
Sensing unit has a plurality of sensors that are used to measure with the distance of other vehicles;
System control unit, be used for receiving measuring-signal from sensor, calculate the distance with other vehicles, whether the distance of determining to be calculated less than predetermined vehicle proximity distance setting value, and when the distance of determining to be calculated generation alerting signal during less than vehicle proximity distance setting value; And
Alarm unit is used to receive described alerting signal and sends warning.
2. system according to claim 1, wherein, described sensing unit comprises:
First range sensor is used for the distance of sensing apart from preceding vehicle;
The second distance sensor is used for the distance of sensing apart from right side vehicle;
The 3rd range sensor is used for the distance of sensing apart from left side vehicle; And
The 4th range sensor is used for the distance of sensing apart from the back vehicle.
3. system according to claim 1 and 2, wherein, described system control unit comprises:
The distance setting unit is used for storing predetermined adjacency setting value;
Input signal processor is used for receiving each sensing signal from sensor under predetermined control, and converts received sensing signal to distance value;
Distance calculator is used for more described distance value and adjacency setting value under predetermined control, whether determines described distance value less than described adjacency setting value, and produces definite consequential signal;
Output signal processor is used for producing alerting signal under predetermined control; And
Controller, be used for control input signals processor and distance calculator, under the vehicle proximity alarm mode, read and export described adjacency setting value to distance calculator, and receive and export described definite consequential signal and alerting signal to output signal processor.
4. system according to claim 1, wherein, described alarm unit is a side warning light processor, has a plurality of signal lamps that are positioned at vehicle left side and right side, receives described alerting signal and the described signal lamp that glimmers.
5. system according to claim 1, wherein, described alerting signal is a vehicle proximity warning text data.
6. system according to claim 5, wherein, described alarm unit is a windshield alarm indication processor, is installed in an end of vehicle front windshield, receives and shows described vehicle proximity warning text data.
7. system according to claim 6, wherein, described windshield alarm indication processor is an organic electroluminescence display unit.
8. vehicle proximity alarm method said method comprising the steps of:
Be set by the user at least one adjacency setting value;
Measure distance with other vehicles; And
More measured successively distance and described adjacency setting value, and send warning corresponding to corresponding adjacency setting value.
9. described according to Claim 8 method, wherein, described warning uses the alert audio signal to carry out.
10. described according to Claim 8 method, wherein, described warning is carried out by showing vehicle proximity warning text data.
11. described according to Claim 8 method, wherein, the flicker of the signal lamp of described warning by being installed in outside vehicle and anti-ly carry out near the warning of other vehicles.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020050001454 | 2005-01-07 | ||
| KR1020050001454A KR101115221B1 (en) | 2005-01-07 | 2005-01-07 | System and method for alerting when other vehicles approximates by own vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1801243A true CN1801243A (en) | 2006-07-12 |
Family
ID=36696182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200510109356XA Pending CN1801243A (en) | 2005-01-07 | 2005-10-13 | Vehicle proximity alerting system and method |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US7365641B2 (en) |
| KR (1) | KR101115221B1 (en) |
| CN (1) | CN1801243A (en) |
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| CN102390322A (en) * | 2011-10-20 | 2012-03-28 | 北京百纳威尔科技有限公司 | Mobile terminal with auto safety warning function |
| CN102490654A (en) * | 2011-11-17 | 2012-06-13 | 唐梓蛟 | Electronic early-warning device and implementation method thereof |
| CN102792351A (en) * | 2010-03-12 | 2012-11-21 | 优迪卡汽车股份有限公司 | Safe vehicle driving facilitating system |
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| CN107248245A (en) * | 2017-06-06 | 2017-10-13 | 余姚德诚科技咨询有限公司 | Flashing intensity control platform for warning lamp |
| CN107277705A (en) * | 2017-06-06 | 2017-10-20 | 余姚德诚科技咨询有限公司 | Disc type horn control platform |
| CN108064401A (en) * | 2016-12-29 | 2018-05-22 | 深圳市柔宇科技有限公司 | Vehicle early warning method, apparatus and system |
| CN108806332A (en) * | 2018-06-25 | 2018-11-13 | 中国移动通信集团西藏有限公司 | A kind of spacing management system based on bluetooth, GSM |
| CN110556011A (en) * | 2019-08-26 | 2019-12-10 | 安徽因特维可信息科技股份有限公司 | Bus device with early warning system |
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- 2005-10-13 CN CNA200510109356XA patent/CN1801243A/en active Pending
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Also Published As
| Publication number | Publication date |
|---|---|
| KR101115221B1 (en) | 2012-02-14 |
| KR20060081062A (en) | 2006-07-12 |
| US7365641B2 (en) | 2008-04-29 |
| US20060164222A1 (en) | 2006-07-27 |
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